testing TimeDrive

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / TimeDrive.java

package org.usfirst.frc.team3501.robot.commands.driving;

import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;

/***
 * This commands make the robot drive for a specified time with the motors set
 * at a specified value between 1 and -1
 *
 * parameters:
 * time: how long the robot should drive for - in seconds
 * motorVal: the motor input to set the motors to
 *
 *
 */
public class TimeDrive extends Command {
  Timer timer;
  double motorVal, time;

  public TimeDrive(final double time, final double motorVal) {
    requires(Robot.getDriveTrain());

    timer = new Timer();
    this.time = time;
    this.motorVal = motorVal;
  }

  @Override
  protected void initialize() {
    timer.start();
  }

  @Override
  protected void execute() {
    Robot.getDriveTrain().setMotorValues(motorVal, motorVal);

  }

  @Override
  protected boolean isFinished() {
    return timer.get() >= time;
  }

  @Override
  protected void end() {
    Robot.getDriveTrain().stop();
  }

  @Override
  protected void interrupted() {
    end();
  }
}